Processing unit and processing method for collision warning system, collision warning system, and motorcycle

ABSTRACT

A processing unit (20) includes: an acquisition section (21) that acquires environment information corresponding to output of an environment detector (11); a determination section (22) that determines presence or absence of a possibility of a collision on the basis of the environment information; and a control section (23) that makes a warning device (30) output a warning in the case where the determination section (22) determines that there is the possibility of the collision. During travel of the motorcycle, the acquisition section (21) acquires posture information related to a bank angle of the motorcycle, and the control section (23) changes the warning output by the warning device (30) in accordance with the posture information.

BACKGROUND OF THE INVENTION

The invention relates to a processing unit and a processing method for a collision warning system that recognizes a possibility of a collision occurred to a traveling motorcycle by using an environment detector provided in the motorcycle and warns a rider, a collision warning system that includes the processing unit, and a motorcycle that includes the collision warning system.

As a technique related to a motorcycle (a two-wheeled motor vehicle or a three-wheeled motor vehicle), a collision warning system that recognizes a possibility of a collision occurred to a traveling motorcycle and warns a rider has been known. The collision warning system acquires environment information that corresponds to output of an environment detector provided in the motorcycle and makes a warning device output a warning when determining that there is the possibility of the collision on the basis of the environment information. The rider's operation is assisted by the warning that is output by the warning device (for example, see JP-A-2009-116882).

SUMMARY OF THE INVENTION

In the conventional collision warning system, there is a case where the warning device outputs such a warning that surprises the rider in a state where the motorcycle turns, that is, in a state where a large bank angle is generated in the motorcycle and a vehicle body becomes unstable. Thus, the rider's safety is possibly affected.

The invention has been made with the above-described problem as the background and therefore obtains a processing unit and a processing method capable of improving a rider's safety. The invention also obtains a collision warning system that includes the processing unit. The invention further obtains a motorcycle that includes the collision warning system.

A processing unit according to the invention is a processing unit for a collision warning system that recognizes a possibility of a collision occurred to a traveling motorcycle by using an environment detector provided in said motorcycle and warns a rider. The processing unit includes: an acquisition section that acquires environment information corresponding to output of the environment detector; a determination section that determines presence or absence of the possibility of the collision on the basis of the environment information; and a control section that makes a warning device output a warning in the case where the determination section determines that there is the possibility of the collision. During travel of the motorcycle, the acquisition section acquires posture information related to a bank angle of the motorcycle, and the control section changes the warning output by the warning device in accordance with the posture information.

A collision warning system according to the invention includes the above processing unit, the environment detector, and the warning device.

A motorcycle according to the invention includes the above collision warning system.

A processing method according to the invention is a processing method for a collision warning system that recognizes a possibility of a collision occurred to a traveling motorcycle by using an environment detector provided in said motorcycle and warns a rider. The processing method includes: an acquisition step of acquiring environment information corresponding to output of the environment detector; a determination step of determining presence or absence of the possibility of the collision on the basis of the environment information; and a control step of making a warning device output a warning in the case where it is determined that there is the possibility of the collision in the determination step. During travel of the motorcycle, in the acquisition step, posture information related to a bank angle of the motorcycle is acquired, and in the control step, the warning output by the warning device is changed in accordance with the posture information.

In the processing unit, the collision warning system, the motorcycle, and the processing method according to the invention, the warning output by the warning device is changed in accordance with the posture information related to the bank angle of the motorcycle. Therefore, in a state where the motorcycle turns, that is, in a state where the large bank angle is generated in the motorcycle and a vehicle body becomes unstable, the warning device outputs the appropriate warning, and thus the rider's safety can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view of a state where a collision warning system according to a first embodiment of the invention is mounted on a motorcycle.

FIG. 2 is a system configuration diagram of the collision warning system according to the first embodiment of the invention.

FIG. 3 is a view illustrating a definition of a bank angle of the motorcycle.

FIG. 4 is a chart of an operation flow of a processing unit in the collision warning system according to the first embodiment of the invention.

FIG. 5 is a chart of an operation flow of a processing unit in a collision warning system according to a second embodiment of the invention.

FIG. 6 is a chart of an operation flow of a processing unit in a collision warning system according to a third embodiment of the invention.

DETAILED DESCRIPTION

A description will hereinafter be made on a processing unit, a collision warning system, a motorcycle, and a processing method according to the invention by using the drawings.

Note that each of a configuration, an operation, and the like, which will be described below, is merely one example, and the processing unit, the collision warning system, the motorcycle, and the processing method according to the invention are not limited to a case with such a configuration, such an operation, and the like.

For example, a description will hereinafter be made on a case where the motorcycle is a two-wheeled motor vehicle; however, the motorcycle may be a three-wheeled motor vehicle. In addition, a description will hereinafter be made on a case where a possibility of a collision ahead of the motorcycle is recognized by using an environment detector that detects the front of the motorcycle. However, a possibility of a collision in another direction (a lateral direction, a rear direction, or the like) of the motorcycle may be recognized by using an environment detector that detects the other direction (the lateral direction, the rear direction, or the like) of the motorcycle.

The same or similar description will appropriately be simplified or will not be made below. In the drawings, the same or similar portions will be denoted by the same reference signs. In addition, a detailed structure will appropriately be depicted in a simplified manner or will not be depicted.

FIRST EMBODIMENT

A description will hereinafter be made on a collision warning system according to a first embodiment.

<Configuration of Collision Warning System>

A description will be made on a configuration of the collision warning system according to the first embodiment.

FIG. 1 is a view of a state where the collision warning system according to the first embodiment of the invention is mounted on a motorcycle. FIG. 2 is a system configuration diagram of the collision warning system according to the first embodiment of the invention. FIG. 3 is a view illustrating a definition of a bank angle of the motorcycle.

As depicted in FIG. 1 and FIG. 2, a collision warning system 1 is mounted on a motorcycle 100. The collision warning system 1 at least includes an environment detector 11 that detects the front of the motorcycle 100, an inertial measurement unit (IMU) 12 that detects inertia generated in the motorcycle 100, a processing unit (an ECU) 20, and a warning device 30.

The collision warning system 1 plays a role of recognizing a possibility of a collision ahead of the traveling motorcycle 100 by using the environment detector 11 and a role of warning a rider by using the warning device 30. The processing unit 20 acquires output of the environment detector 11 and output of the inertial measurement unit 12, and outputs a control command to the warning device 30. The processing unit 20 also receives output of various detectors (not depicted) used to acquire travel state information of the motorcycle 100, the rider's operation state information, and the like, for example. Each device of the collision warning system 1 may exclusively be used in the collision warning system 1 or may also be used in another system.

The environment detector 11 is a radar, a Lidar, an ultrasonic sensor, a camera, or the like, for example, and continuously detects a peripheral object(s) within a detection range during travel of the motorcycle 100.

The inertial measurement unit 12 includes a three-axis gyroscope sensor and a three-directional acceleration sensor, for example, and outputs the detected inertia to the processing unit 20. The inertial measurement unit 12 may detect another physical quantity that can substantially be converted to the inertia generated in the motorcycle 100. Alternatively, the inertial measurement unit 12 may be another detector that can acquire posture information related to a bank angle θL of the motorcycle 100.

The processing unit 20 includes an acquisition section 21, a determination section 22, and a control section 23. The sections of the processing unit 20 may collectively be provided in a single casing or may separately be provided in multiple casings. In addition, the processing unit 20 may partially or entirely be constructed of a microcomputer, a microprocessor unit, or the like, may be constructed of a member in which firmware and the like can be updated, or may be a program module or the like that is executed by a command from a CPU or the like, for example.

During the travel of the motorcycle 100, the acquisition section 21 receives the output of the environment detector 11 and acquires environment information that corresponds to the output. Then, the determination section 22 determines whether there is a possibility that the motorcycle 100 collides by using a known method. More specifically, the determination section 22 processes the environment information and determines whether there is the possibility that the motorcycle 100 collides in consideration of the travel state information of the motorcycle 100, the rider's operation state information, and the like acquired by using the various detectors. Then, in the case where the determination section 22 determines that there is the possibility of the collision, the control section 23 makes the warning device 30 output a warning.

In addition, the acquisition section 21 acquires the posture information related to the bank angle θL of the motorcycle 100 on the basis of the output of the inertial measurement unit 12. The posture information related to the bank angle θL may be information of the bank angle θL itself or information of another physical quantity that can substantially be converted to the bank angle θL (for example, a yaw rate, lateral acceleration, or the like generated in the motorcycle 100). The bank angle θL is defined as a tilt angle of the motorcycle 100 in a rolling direction with respect to a state where the motorcycle 100 stands upright (see FIG. 3).

The warning device 30 may warn the rider by sound (that is, a sensation through an auditory organ as a sensory organ), may warn the rider by a display (that is, a sensation through a visual organ as the sensory organ), may warn the rider by vibrations (that is, a sensation through a tactile organ as the sensory organ), or may warn the rider by a combination of those. More specifically, the warning device 30 is a speaker, a display, a lamp, a vibrator, or the like, and may be provided in the motorcycle 100 or may be provided in an accessory such as a helmet that is associated with the motorcycle 100. In addition, the warning device 30 may be constructed of a single output device or may be constructed of multiple output devices of the same type or different types. The multiple output devices may be provided integrally or may be provided separately.

<Operation of Collision Warning System>

A description will be made on an operation of the collision warning system according to the first embodiment.

FIG. 4 is a chart of an operation flow of the processing unit in the collision warning system according to the first embodiment of the invention.

The processing unit 20 executes the operation flow depicted in FIG. 4 during the travel of the motorcycle 100.

(Acquisition Step)

In step S101, the acquisition section 21 acquires the environment information that corresponds to the output of the environment detector 11. In addition, the acquisition section 21 acquires the posture information related to the bank angle θL on the basis of the output of the inertial measurement unit 12.

(Determination Step)

In step S102, the determination section 22 processes the environment information acquired in step S101 and determines whether there is the possibility that the motorcycle 100 collides in consideration of the travel state information of the motorcycle 100, the rider's operation state information, and the like that are acquired by using the various detectors. If Yes, the processing proceeds to step S103. If No, the processing returns to step S101.

(Control Step)

In step S103 to step S105, the control section 23 makes the warning device 30 output the warning in a mode that corresponds to the posture information acquired in step S101.

More specifically, in step S103, the control section 23 determines whether the posture information acquired in step S101 is posture information corresponding to the bank angle θL that is smaller than a maximum allowable bank angle θLth1. If Yes, the processing proceeds to step S104. If No, the processing proceeds to step S105.

In step S104, the control section 23 makes the warning device 30 output the warning. In step S105, the control section 23 does not make the warning device 30 output the warning. In the case where a state where the determination of Yes is made in step S102 and the determination of No is made in step S103 continues for reference duration or longer, the control section 23 may make the warning device 30 output the warning.

<Effects of Collision Warning System>

A description will be made on effects of the collision warning system according to the first embodiment.

The processing unit 20 includes: the acquisition section 21 that acquires the environment information corresponding to the output of the environment detector 11; the determination section 22 that determines presence or absence of the possibility of the collision on the basis of the environment information; and the control section 23 that makes the warning device 30 output the warning in the case where the determination section 22 determines that there is the possibility of the collision. During the travel of the motorcycle 100, the control section 23 changes the warning output by the warning device 30 in accordance with the posture information related to the bank angle θL of the motorcycle 100. Therefore, in a state where the motorcycle 100 turns, that is, in a state where the large bank angle θL is generated in the motorcycle 100 and a vehicle body becomes unstable, the warning device 30 outputs the appropriate warning, and thus the rider's safety can be improved.

In the case where the acquisition section 21 acquires the posture information corresponding to the bank angle θL that is smaller than the maximum allowable bank angle θLth1, the control section 23 preferably makes the warning device 30 output the warning. In the case where the acquisition section 21 acquires the posture information corresponding to the bank angle θL that is larger than the maximum allowable bank angle θLth1, the control section 23 preferably does not make the warning device 30 output the warning. In this way, the rider's safety is reliably improved.

In particular, in the case where the state where the determination section 22 determines that there is the possibility of the collision and the acquisition section 21 acquires the posture information corresponding to the bank angle θL that is larger than the maximum allowable bank angle θLth1 continues for the reference duration or longer, the control section 23 preferably makes the warning device 30 output the warning. With such a configuration, the rider's operation can be assisted while the rider's safety is improved.

SECOND EMBODIMENT

A description will hereinafter be made on a collision warning system according to a second embodiment.

Note that the collision warning system according to the second embodiment differs from the collision warning system according to the first embodiment only in terms of the operation flow of the processing unit 20. A description that overlaps or is similar to the description on the collision warning system according to the first embodiment will appropriately be simplified or will not be made.

<Operation of Collision Warning System>

A description will be made on an operation of the collision warning system according to the second embodiment.

FIG. 5 is a chart of the operation flow of the processing unit in the collision warning system according to the second embodiment of the invention.

The processing unit 20 executes the operation flow depicted in FIG. 5 during the travel of the motorcycle 100.

(Acquisition Step)

In step S201, the acquisition section 21 acquires the environment information that corresponds to the output of the environment detector 11. In addition, the acquisition section 21 acquires the posture information related to the bank angle θL on the basis of the output of the inertial measurement unit 12.

(Determination Step)

In step S202, the determination section 22 processes the environment information acquired in step S201 and determines whether there is the possibility that the motorcycle 100 collides in consideration of the travel state information of the motorcycle 100, the rider's operation state information, and the like that are acquired by using the various detectors. If Yes, the processing proceeds to step S203. If No, the processing returns to step S201.

(Control Step)

In step S203 to step S205, the control section 23 makes the warning device 30 output the warning in a mode that corresponds to the posture information acquired in step S201.

More specifically, in step S203, the control section 23 determines whether the posture information acquired in step S201 is posture information corresponding to the bank angle θL that is smaller than a reference bank angle θLth2. If Yes, the processing proceeds to step S204. If No, the processing proceeds to step S205.

For example, in step S204, the control section 23 makes the warning device 30 output first warning sound in a first volume level. In step S205, the control section 23 makes the warning device 30 output second warning sound in a second volume level that is lower than the first volume level. That is, the second warning sound is a warning with lower sensitivity than the first warning sound. The second warning sound may be warning sound whose volume level is gradually increased with a lapse of time. The first warning sound corresponds to the “first warning” in the invention, and the second warning sound corresponds to the “second warning” in the invention. The volume level corresponds to the “intensity” in the invention.

For example, in step S204, the control section 23 makes the warning device 30 output a first warning display in first brightness. In step S205, the control section 23 makes the warning device 30 output a second warning display in second brightness that is lower than the first brightness. That is, the second warning display is a warning with the lower sensitivity than the first warning display. The second warning display may be a warning display whose brightness is gradually increased with the lapse of time. The first warning display corresponds to the “first warning” in the invention, and the second warning display corresponds to the “second warning” in the invention. The brightness corresponds to the “intensity” in the invention.

For example, in step S204, the control section 23 makes the warning device 30 output a first warning vibration in a first amplitude. In step S205, the control section 23 makes the warning device 30 output a second warning vibration in a second amplitude that is smaller than the first amplitude. That is, the second warning vibration is a warning with the lower sensitivity than the first warning vibration. The second warning vibration may be a warning vibration whose amplitude is gradually increased with the lapse of time. The first warning vibration corresponds to the “first warning” in the invention, and the second warning vibration corresponds to the “second warning” in the invention. The amplitude corresponds to the “intensity” in the invention.

For example, in step S204, the control section 23 makes the warning device 30 output the first warning sound whose volume level changes in a first cycle. In step S205, the control section 23 makes the warning device 30 output the second warning sound whose volume level is changed in a second cycle that is longer than the first cycle. That is, the second warning sound is the warning with the lower sensitivity than the first warning sound. The second warning sound may be warning sound whose cycle in the volume level change is gradually shortened with the lapse of time. The first warning sound corresponds to the “first warning” in the invention, and the second warning sound corresponds to the “second warning” in the invention. The volume level change corresponds to the “change pattern” in the invention.

For example, in step S204, the control section 23 makes the warning device 30 output the first warning display whose brightness changes in the first cycle. In step S205, the control section 23 makes the warning device 30 output the second warning display whose brightness is changed in the second cycle that is longer than the first cycle. That is, the second warning display is the warning with the lower sensitivity than the first warning display. The second warning display may be a warning display whose cycle in the brightness change is gradually shortened with the lapse of time. The first warning display corresponds to the “first warning” in the invention, and the second warning display corresponds to the “second warning” in the invention. The brightness change corresponds to the “change pattern” in the invention.

For example, in step S204, the control section 23 makes the warning device 30 output the first warning vibration that vibrates in the first cycle. In step S205, the control section 23 makes the warning device 30 output the second warning vibration that vibrates in the second cycle that is longer than the first cycle. That is, the second warning vibration is the warning with the lower sensitivity than the first warning vibration. The second warning vibration may be a warning vibration whose cycle is gradually shortened with the lapse of time. The first warning vibration corresponds to the “first warning” in the invention, and the second warning vibration corresponds to the “second warning” in the invention. The vibration corresponds to the “change pattern” in the invention.

For example, in step S204, the control section 23 makes the warning device 30 output the warning by a first output device that outputs sound (preferably loud sound). In step S205, the control section 23 makes the warning device 30 output the warning by a second output device that outputs a display (preferably a less prominent display). That is, the warning by the second output device is a warning that is sensed by the rider through a different sensory organ from that used for the warning by the first output device. In addition, the warning by the second output device is the warning with the lower sensitivity than the warning by the first output device. The warning by the first output device corresponds to the “first warning” in the invention, and the warning by the second output device corresponds to the “second warning” in the invention.

For example, in step S204, the control section 23 makes the warning device 30 output the warnings by the first output device that outputs the sound and the second output device that outputs the display. In step S205, the control section 23 makes the warning device 30 output the warning by only the second output device. That is, the warning by the second output device in step S204 and step S205 is the warning that is sensed by the rider through the different sensory organ from that used for the warning by the first output device in step S204. The warning by the first output device in step S204 corresponds to the “first warning” in the invention, the warning by the second output device in step S204 corresponds to the “third warning” in the invention, and the warning by the second output device in step S205 corresponds to the “second warning” in the invention.

For example, in step S204, the control section 23 makes the warning device 30 output the warning by the first output device that outputs the vibration. In step S205, the control section 23 makes the warning device 30 output the warning by the second output device that outputs the sound or the display. That is, the warning by the second output device is a warning that is sensed by the rider through the different sensory organ from that used for the warning by the first output device. In addition, the warning by the second output device is the warning with the lower sensitivity than the warning by the first output device. Furthermore, the warning by the first output device applies an external force to the rider, and the warning by the second output device does not apply the external force to the rider. The warning by the first output device corresponds to the “first warning” in the invention, and the warning by the second output device corresponds to the “second warning” in the invention.

For example, in step S204, the control section 23 makes the warning device 30 output the warnings by the first output device that outputs the vibration and the second output device that outputs the sound or the display. In step S205, the control section 23 makes the warning device 30 output the warning by only the second output device. That is, the warning by the second output device in step S204 and step S205 is the warning that is sensed by the rider through the different sensory organ from that used for the warning by the first output device in step S204. The warning by the first output device in step S204 corresponds to the “first warning” in the invention, the warning by the second output device in step S204 corresponds to the “third warning” in the invention, and the warning by the second output device in step S205 corresponds to the “second warning” in the invention.

<Effects of Collision Warning System>

A description will be made on effects of the collision warning system according to the second embodiment.

In the case where the acquisition section 21 acquires the posture information corresponding to the bank angle θL that is smaller than the reference bank angle θLth2, the control section 23 preferably makes the warning device 30 output the first warning. In the case where the acquisition section 21 acquires the posture information corresponding to the bank angle θL that is larger than the reference bank angle θLth2, the control section 23 preferably makes the warning device 30 output the second warning that differs from the first warning. Therefore, the rider's operation can be assisted while the rider's safety is improved.

In particular, the second warning is preferably the warning with the lower sensitivity than the first warning. With such a configuration, the rider's safety is reliably improved. Furthermore, the second warning is preferably the warning whose sensitivity is gradually improved. With such a configuration, the assistance in the rider's operation can be promoted while the rider's safety is improved.

In addition, in particular, the second warning is preferably the warning that is sensed by the rider through the different sensory organ from that used for the first warning. With such a configuration, the rider's safety is reliably improved. Furthermore, the first warning is preferably the warning that applies the external force to the rider, and the second warning is preferably the warning that does not apply the external force to the rider. With such a configuration, in the state where the large bank angle θL is generated in the motorcycle 100 and the vehicle body becomes unstable, the application of the external force to the rider is suppressed. Therefore, the rider's operation can be assisted while the rider's safety is reliably improved.

Moreover, in particular, the second warning is preferably the warning that is sensed by the rider through the different sensory organ from that used for the first warning. In the case where the acquisition section 21 acquires the posture information corresponding to the bank angle θL that is smaller than the reference bank angle θLth2, the control section 23 preferably makes the warning device 30 output the third warning, which is sensed by the rider through the different sensory organ from that used for the first warning, in addition to the first warning. In the case where the acquisition section 21 acquires the posture information corresponding to the bank angle θL that is larger than the reference bank angle θLth2, the control section 23 preferably does not make the warning device 30 output the third warning. With such a configuration, the rider's operation can be assisted while the rider's safety is reliably improved. Furthermore, the second warning and the third warning are preferably the warnings that are sensed by the rider through the same sensory organ. With such a configuration, the rider can be suppressed from missing the second warning, and thus the rider's safety is further reliably improved.

THIRD EMBODIMENT

A description will hereinafter be made on a collision warning system according to a third embodiment.

Note that the collision warning system according to the third embodiment differs from the collision warning systems according to the first embodiment and the second embodiment only in terms of the operation flow of the processing unit 20. A description that overlaps or is similar to the descriptions on the collision warning systems according to the first embodiment and the second embodiment will appropriately be simplified or will not be made.

<Operation of Collision Warning System>

A description will be made on an operation of the collision warning system according to the third embodiment.

FIG. 6 is a chart of the operation flow of the processing unit in the collision warning system according to the third embodiment of the invention.

The processing unit 20 executes the operation flow depicted in FIG. 6 during the travel of the motorcycle 100.

(Acquisition Step)

In step S301, the acquisition section 21 acquires the environment information that corresponds to the output of the environment detector 11. In addition, the acquisition section 21 acquires the posture information related to the bank angle θL on the basis of the output of the inertial measurement unit 12.

(Determination Step)

In step S302, the determination section 22 processes the environment information acquired in step S301 and determines whether there is the possibility that the motorcycle 100 collides in consideration of the travel state information of the motorcycle 100, the rider's operation state information, and the like that are acquired by using the various detectors. If Yes, the processing proceeds to step S303. If No, the processing returns to step S301.

(Control Step)

In step S303 to step S307, the control section 23 makes the warning device 30 output the warning in a mode that corresponds to the posture information acquired in step S301.

More specifically, in step S303, the control section 23 determines whether the posture information acquired in step S301 is the posture information corresponding to the bank angle θL that is smaller than the maximum allowable bank angle θLth1. If Yes, the processing proceeds to step S304. If No, the processing proceeds to step S307.

In step S304, the control section 23 determines whether the posture information acquired in step S301 is the posture information corresponding to the bank angle θL that is smaller than the reference bank angle θLth2. Note that the reference bank angle θLth2 is the smaller angle than the maximum allowable bank angle θLth1. If Yes, the processing proceeds to step S305. If No, the processing proceeds to step S306.

In step S305, the control section 23 makes the warning device 30 perform a similar operation to that in step S204 in FIG. 5. In step S306, the control section 23 makes the warning device 30 perform a similar operation to that in step S205 in FIG. 5. In step S307, the control section 23 makes the warning device 30 perform a similar operation to that in step S105 in FIG. 4.

<Effects of Collision Warning System>

A description will be made on effects of the collision warning system according to the third embodiment.

In the case where the acquisition section 21 acquires the posture information corresponding to the bank angle θL that is smaller than the reference bank angle θLth2, the control section 23 preferably makes the warning device 30 output the first warning. In the case where the acquisition section 21 acquires the posture information corresponding to the bank angle θL that is larger than the reference bank angle θLth2 and is smaller than the maximum allowable bank angle θLth1, the control section 23 preferably makes the warning device 30 output the second warning that differs from the first warning. In the case where the acquisition section 21 acquires the posture information corresponding to the bank angle θL that is larger than the maximum allowable bank angle θLth1, the control section 23 preferably does not make the warning device 30 output the warning. Therefore, the assistance in the rider's operation can further reliably be improved while the rider's safety is improved.

The description has been made so far on the first embodiment to the third embodiment. However, the invention is not limited to the description of each of the embodiments. For example, only a part of each of the embodiments may be implemented, or all or parts of the embodiments may be combined. In addition, all or parts of the steps in each of the operation flows may be executed in a different order. For example, the acquisition of the posture information related to the bank angle θL in the acquisition steps S101, S201, S301 may be executed after the determination steps S102, S202, S302. Furthermore, in the second embodiment and the third embodiment, the two types of the warnings are used differently by using the reference bank angle θLth2. However, three or more types of the warnings may be used differently.

REFERENCE SIGNS LIST

1: Collision warning system

11: Environment detector

12: Inertial measurement unit

20: Processing unit

21: Acquisition section

22: Determination section

23: Control section

30: Warning device

100: Motorcycle

θL: Bank angle

θLth1: Maximum allowable bank angle

θLth2: Reference bank angle 

1. A processing unit (20) for a collision warning system (1) for a motorcycle (100), the processing unit (20) comprising: an acquisition section (21) configured to acquire environment information corresponding to output of an environment detector (11); a determination section (22) configured to determine a presence or an absence of the possibility of a collision based on the environment information; and a control section (23) configured to output, via a warning device (30), a warning to a rider of the motorcycle (100) when the determination section (22) determines that there is the presence of the possibility of the collision, wherein the acquisition section (21) is configured to acquire posture information related to a bank angle (θL) of the motorcycle (100), and the control section (23) is configured to change the warning output of the warning device (30) according to the posture information.
 2. The processing unit (20) according to claim 1, wherein the control section (23) is further configured to output, via the warning device (30), the warning when the posture information corresponding to the bank angle (θL) is smaller than a maximum allowable bank angle (θLth1), and does not output the warning when the posture information corresponding to the bank angle (θL) is larger than the maximum allowable bank angle (θLth1).
 3. The processing unit (20) according to claim 2, wherein the control section (23) outputs, via the warning device (30), the warning when the determination section (22) determines that there is the presence of the possibility of the collision and the posture information corresponding to the bank angle (θL) is larger than the maximum allowable bank angle (θLth1) for a reference duration.
 4. The processing unit (20) according to claim 1, wherein the control section (23) outputs, via the warning device (30), a first warning when the posture information corresponding to the bank angle (θL) is smaller than a reference bank angle (θLth2), and outputs, via the warning device (30), a second warning that differs from the first warning when the posture information corresponding to the bank angle (74 L) is larger than the reference bank angle (θLth2).
 5. The processing unit (20) according to claim 4, wherein the second warning has a sensitivity lower than a sensitivity of the first warning.
 6. The processing unit (20) according to claim 5, wherein a sensitivity of the second warning gradually improves.
 7. The processing unit (20) according to claim 5, wherein the second warning has an output intensity lower than the an output intensity of the first warning.
 8. The processing unit (20) according to claim 5, wherein the second warning has a change pattern of a longer cycle than a change pattern of the first warning.
 9. The processing unit (20) according to claim 4, wherein the second warning is configured to be sensed by the rider through a sensory organ different than a sensory organ that the first warning is configured to be sensed by.
 10. The processing unit (20) according to claim 9, wherein the first warning applies an external force to the rider, and the second warning does not apply an external force to the rider.
 11. The processing unit (20) according to claim 9, wherein the control section (23) outputs, via the warning device (30), the first warning and a third warning that is configured to be sensed by the rider through a sensory organ different than a sensory organ for that the first warning is configured to be sensed by when the posture information corresponding to the bank angle (θL) that is smaller than a reference bank angle (θLth2), and does not output, via the warning device (30), the third warning when the posture information corresponding to the bank angle (θL) that is larger than the reference bank angle (θLth2).
 12. The processing unit (20) according to claim 11, wherein the second warning and the third warning are configured to be sensed by the rider through the same sensory organ.
 13. A collision warning system (1) comprising: the processing unit (20) according to claim 1; the environment detector (11); and the warning device (30).
 14. A motorcycle (100) comprising: the collision warning system (1) according to claim
 13. 15. A processing method for a collision warning system (1) for a motorcycle (100), the processing method comprising: acquiring environment information corresponding to output of an environment detector (11); determining a presence or an absence of the possibility of the collision on the basis of the environment information; and making a warning device (30) output a warning to a rider of the motorcycle (100) in the case where it is determined that there is the possibility of the collision in the determination step (S102, S202, S302), wherein wherein posture information related to a bank angle (θL) of the motorcycle (100) is acquired, and the warning output by the warning device (30) is changed in accordance with the posture information. 